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Robotic Joints and Contact Dynamics Experiments: Lessons learned from ROKVISS
| Content Provider | Semantic Scholar |
|---|---|
| Author | Rebele, Bernhard Schaefer, Benjamin Albu-Schaffer, Alin Bertleff, Wieland Landzettel, Klaus |
| Copyright Year | 2006 |
| Abstract | Precise knowledge of robotic motion dynamics is a pre-requisite for controller design and successful manipulator inorbit operations. The system dynamics strongly depend on the friction, damping and stiffness parameters. These physical parameters change with outer space conditions like huge temperature variations and material degradation. Since ROKVISS was installed outside at the Russian Service Module of the International Space Station (ISS) in January 2005, ROKVISS operates successfully as an on-orbit experimental platform. The measurements collected during almost 2 years of operation in space allow drawing reliable conclusions on the robotic joints damping and on the contact forces for interacting surfaces in space. The modeling of the joint friction and the tangential contact forces and the identification of the corresponding parameter is addressed in this paper. EXPERIMENT DESCRIPTION ROKVISS is the second space robot experiment realized by DLR’s Institute of Robotics and Mechatronics (DLR-RM) in cooperation with the German space companies EADS-ST, Kaiser-Threde, and vHS (von Hoerner & Sulger) with close collaboration of the Russian Federal Space Agency ROSKOSMOS and RKK Energia. In January 2005, approximately three years after the project was started, ROKVISS was mounted outside the Russian Service Module of the International Space Station (Fig. 1). Fig. 1. At the end of a 5 hours space walk the astronauts succeeded in mounting ROKVISS Since February 2005 ROKVISS is operated by DLR-RM from the German Ground Station in Weilheim, supported by ZUP (ISS ground station in Moscow) and will be continued until February 2007. ROKVISS consists of a small experimental robot with two joints (Fig. 2) mounted on a Universal Workplate, a controller, a stereo camera, an illumination system, an earth observation camera, a power supply, and a mechanical contour device with two springs. The main goals of ROVVISS [1], [2], [3] are • The identification of their dynamics, specifically damping and friction behavior over time, in order to update and validate mathematical models and to gain increased confidence in the modelling process, also for more advanced robotized future missions. • The verification of DLR`s modular light-weight robotic joints in the outer space, under realistic mission conditions. • The verification of force-reflecting telemanipulation to show the feasibility of telepresence methods [4],[5] for future satellite servicing tasks, as we are convinced that the inclusion of the human ground operator into the control loop is a must in many situations. Fig. 2. ROKVISS manipulator with mechanical contour JOINT PARAMETER IDENTIFICATION |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://robotics.estec.esa.int/ASTRA/Astra2006/Papers/ASTRA2006-1.1.04.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
